CN104912484A - Fully automatic anchor rod drill carriage for coal mine - Google Patents

Fully automatic anchor rod drill carriage for coal mine Download PDF

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Publication number
CN104912484A
CN104912484A CN201510193857.4A CN201510193857A CN104912484A CN 104912484 A CN104912484 A CN 104912484A CN 201510193857 A CN201510193857 A CN 201510193857A CN 104912484 A CN104912484 A CN 104912484A
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fixed
cylinder
arm
oil cylinder
large arm
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CN201510193857.4A
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CN104912484B (en
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不公告发明人
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Abstract

The invention discloses a fully automatic anchor rod drill carriage for a coal mine. The fully automatic anchor rod drill carriage comprises an underpan, a crawling traction part, a large-arm rotating lug seat, a large-arm rotating oil cylinder lug seat, a large-arm outer sleeve, a large-arm inner sleeve, a large-arm telescopic oil cylinder, a large-arm amplitude regulating oil cylinder, a large-arm rotating oil cylinder, a drilling rig spiral swinging cylinder, a large-arm amplitude regulating oil cylinder lug seat, a fully automatic jumbolter for the coal mine and an automatic net laying device, wherein the fully automatic jumbolter for the coal mine and the automatic net laying device are arranged on the underpan through the fully automatic anchor rod drill carriage for the coal mine; the crawling traction part is used for driving the fully automatic anchor rod drill carriage for the coal mine to move; and the position and the pose of the fully automatic anchor rod drill carriage for the coal mine are regulated through the large-arm telescopic oil cylinder, the large-arm amplitude regulating oil cylinder, the large-arm rotating oil cylinder and the drilling rig spiral swinging cylinder, so that the fully automatic anchor rod drill carriage for the coal mine can automatically realize operations of hole drilling, rod installation, anchor rod fastening and net laying; and in the process of completing each operation, the automation degree is higher, the operation time is short, and the efficiency is higher.

Description

Coal Full-automatic mine roofboltier
Technical field
The present invention relates to a kind of coal mine equipment, particularly relate to a kind of coal Full-automatic mine roofboltier.
Background technology
In the recovery process of coal, need to hole to coal seam, and carry out supporting operation by anchor pole, then lay top net, but these operations of the prior art are all completed by multiple equipment, its automaticity is not enough, make the time of whole operation process longer, efficiency is lower.
Summary of the invention
The object of the invention is to provide a kind of coal Full-automatic mine roofboltier, and bore operation, bolt support operation and top net laying establish operation to be realized by an equipment by it, shorten the activity duration, improve efficiency, and automaticity is higher.
Technical solution problem of the present invention adopts following technical scheme: a kind of coal Full-automatic mine roofboltier, and it comprises chassis, crawling traction portion, large revolution of arm ear seat, large arm angling cylinder ear seat, large arm outer sleeve, large arm inner sleeve, large arm telescopic oil cylinder, large arm amplitude modulation oil cylinder, large arm angling cylinder, drilling cramp spiral oscillating cylinder, slide frame, rig leveling cyclinder, guide rail driving oil cylinder, coal Full-automatic mine jumbolter and automatic device for layering;
Described chassis level is arranged;
Described crawling traction portion comprises two crawler belts, and described two crawler belts are individually fixed in the left and right sides on described chassis;
Described large revolution of arm ear seat and large arm angling cylinder ear seat are articulated with on described chassis by different jointed shafts, and the jointed shaft on described large revolution of arm ear seat and described chassis is vertically arranged, the jointed shaft on described large arm angling cylinder ear seat and described chassis is also vertically arranged;
One end of described large arm outer sleeve is articulated with described large revolution of arm ear seat, and the jointed shaft of described large arm outer sleeve and described large revolution of arm ear seat is horizontally disposed with;
Described large arm outer sleeve is hollow form, and the cross section of the endoporus of described large arm outer sleeve is square, and the cross section of described large arm inner sleeve is identical with the cross section of described endoporus, and described large arm inner sleeve is slidably disposed in described large arm outer sleeve;
Described large arm inner sleeve is also hollow structure, and the cylinder body of described large arm telescopic oil cylinder is articulated with on the inwall of described large arm outer sleeve, and the piston rod of described large arm telescopic oil cylinder is articulated with on the inwall of described large arm inner sleeve;
The cylinder body of described large arm angling cylinder is articulated with on described large arm angling cylinder ear seat, on the left side wall that the piston rod of described large arm angling cylinder is articulated with described large arm outer sleeve by ball pivot or right side wall; Described large arm angling cylinder and described large arm angling cylinder ear seat are positioned at left side or the right side of described large arm outer sleeve simultaneously;
The cylinder body of described large arm amplitude modulation oil cylinder is articulated with described large revolution of arm ear seat; The piston rod of described large arm amplitude modulation oil cylinder is articulated with in the lower wall of described large arm outer sleeve, and described large arm amplitude modulation oil cylinder is positioned at the bottom of described large arm outer sleeve, by the expanding-contracting action of large arm amplitude modulation oil cylinder, can realize swinging up and down of described large arm outer sleeve;
The cylinder body of described drilling cramp spiral oscillating cylinder is fixed on described large arm inner sleeve and is positioned at one end outside described large arm outer sleeve, and the lower hinge of described slide frame is on the turning cylinder of described drilling cramp spiral oscillating cylinder; And the jointed shaft of the turning cylinder of described slide frame and described drilling cramp spiral oscillating cylinder is perpendicular to the turning cylinder of described drilling cramp spiral oscillating cylinder; The cylinder body of described rig leveling cyclinder is articulated with on the cylinder body of described drilling cramp spiral oscillating cylinder, and its piston rod is articulated with the top of described slide frame; Described guide rail is slidably disposed on described slide frame, and can move up and down along described slide frame; Described guide rail drives the cylinder body of oil cylinder to be articulated with on described slide frame; Described guide rail drives the piston rod of oil cylinder to be articulated with on described guide rail, and described guide rail drives oil cylinder and described guide rail parallel;
The worm gear of described automatic device for layering is arranged on described chassis rotationally, and is positioned at the right side of described large arm outer sleeve.
Optionally, described automatic device for layering comprises rotating base, ear seat, the first arm, the first oil cylinder, the second arm, the second oil cylinder, the 3rd arm, the 3rd oil cylinder, the first spiral oscillating cylinder, the second spiral oscillating cylinder, the 3rd spiral oscillating cylinder and magnetic machinery hand;
Described ear seat is fixed on the rotatable parts of described rotating base, and described rotating base drives described ear seat to rotate;
One end of described first arm is articulated with on described ear seat;
One end of described second arm is articulated with the other end of described first arm;
The two ends of described first oil cylinder are articulated with on described ear seat and described first arm respectively, and the first arm described in described first hydraulic oil cylinder driving rotates around the jointed shaft of described first arm and ear seat;
One end of described second oil cylinder is articulated with described first arm, and the other end is articulated with described second arm; Second arm described in described second hydraulic oil cylinder driving rotates around the jointed shaft of described second arm and the first arm;
The other end of described second arm is hollow form, and described 3rd arm is slidably disposed in described second arm;
One end of described 3rd oil cylinder is articulated with described second arm, and the other end is articulated with described 3rd arm;
The cylinder body of described first spiral oscillating cylinder is fixed on described 3rd arm one end away from described second arm, the cylinder body of described second spiral oscillating cylinder is fixed on the dwang of described first spiral oscillating cylinder, and the dwang of described second spiral oscillating cylinder is vertical with the dwang of described first spiral oscillating cylinder; The cylinder body of described 3rd spiral oscillating cylinder is fixed on the dwang of described second spiral oscillating cylinder, and the dwang of described 3rd spiral oscillating cylinder is perpendicular to the dwang of described second spiral oscillating cylinder;
Described magnetic machinery hand is fixed on the dwang of described 3rd spiral oscillating cylinder;
Described rotating base comprises hydraulic motor and worm-and-wheel gear, described hydraulic motor is fixed on described chassis, described worm screw is fixed on the output shaft of described hydraulic motor, worm screw described in described fluid motor-driven is rotated, described worm gear is arranged on described chassis rotationally, described worm screw and described worm wheel, worm gear wheel described in described worm drive; Described ear seat is fixed on described worm gear.
Optionally, described second arm offers square opening along its length; Described 3rd arm is linearly, and its cross section is identical with the square opening of described second arm.
Optionally, described coal Full-automatic mine jumbolter comprises brill case switching device shifter, automatically send lever apparatus, the 3rd manipulator and the 4th manipulator;
On the described guide rail automatically sending lever apparatus to be fixed on described brill case switching device shifter, and be positioned at the left side of described guide rail, described 3rd manipulator is fixed on the guide rail of described brill case switching device shifter, and is positioned at the right side of described guide rail; Described 4th manipulator is fixed on the upper end of the guide rail of described brill case switching device shifter; Described 3rd manipulator is used for the upper end of fixing drilling rod; Described 4th manipulator is used for leading to drilling rod or anchor pole.
Optionally, described 3rd manipulator comprises bearing, electric rotating machine, manipulator fixed head, drilling rod fixed head and locking cylinder;
Described bearing is fixed on described guide rail, and is positioned at the right side of described guide rail;
Described electric rotating machine is fixed on described bearing, and the upper end of the rotor of described electric rotating machine is arranged on described bearing rotationally;
Described manipulator fixed head is fixed on the rotor of described electric rotating machine, and described electric rotating machine drives described manipulator fixed head to rotate;
Described drilling rod fixed head is fixed on described manipulator fixed head, and described drilling rod fixed head is horizontally disposed with, and described drilling rod fixed head offers the groove of vertical direction, and described groove can accommodating described drilling rod;
The cylinder body of described locking cylinder is fixed on described drilling rod fixed head, and when the piston rod of described locking cylinder stretches out, the piston rod of described locking cylinder coordinates with described drilling rod fixed head, realizes the locking of drilling rod.
Optionally, described 4th manipulator comprises the first claw, the second claw and performs oil cylinder;
Described first claw is identical with the second claw structure, and is symmetrical arranged; Described first claw and the second claw are articulated with the upper end of described guide rail respectively by different jointed shafts; The front end of described first claw and the front end edge vertical direction of described second claw all offer semi-circular groove; The rear end of described first claw and the second claw is hinged with cylinder body and the piston rod of described execution oil cylinder respectively;
When described execution cylinder action, described first claw and the second claw move toward one another, the semi-circular groove of described first claw and the semi-circular groove of the second claw are bonded into a whole circular trough, and drilling rod or anchor pole can be fixed in described whole circular trough.
Optionally, described brill case switching device shifter comprises base, stirs oil cylinder, guide rail, the first fixed frame, the second fixed frame, sliding frame, the first travelling carriage, the second travelling carriage, first bore case, second and bore case, the first push rod, the second push rod, the first shifting block and the second shifting block;
Described base comprises base portion and is fixed on two alar parts at described base portion two ends, and described two alar parts all perpendicular to described base portion, and are parallel to each other, and are positioned at the homonymy of described base portion;
Described oil cylinder of stirring is the two outlet-rod hydraulic cylinder of single piston type, described in stir oil cylinder two piston rods be individually fixed in described two alar parts;
Described guide rail is fixed on the base portion of described base, and perpendicular to described base;
Described first fixed frame and the second fixed frame are all fixed on described base, and described first fixed frame is identical with the second stationary frame structure;
Described sliding frame is slidably disposed on described guide rail; And described sliding frame is between described first fixed frame and the second fixed frame;
The top of described first fixed frame, the second fixed frame and sliding frame is all formed with upper rail groove; The bottom of described first fixed frame, the second fixed frame and sliding frame is all formed with lower guideway groove;
In the upper rail groove that described first travelling carriage is slidably disposed in described first fixed frame and lower guideway groove, in the upper rail groove that described second travelling carriage is slidably disposed in described sliding frame and lower guideway groove;
Described first bores case is fixed on described first travelling carriage; Described second bores case is fixed on described second travelling carriage;
Described first travelling carriage is provided with the first push rod; Described second travelling carriage is provided with the second push rod; Described stirring on oil cylinder is respectively arranged with the first shifting block and the second shifting block, and described first shifting block drives described first travelling carriage motion by the first push rod, and described second shifting block drives described second travelling carriage motion by described second push rod.
Optionally, the described lever apparatus that automatically send comprises anchor pole storing mechanism, the first manipulator, the second manipulator and holder;
Described anchor pole storing mechanism comprises lower plate, rotary power portion, central axis, lower part scale, upper part scale and top and fixes back-up ring;
Described rotary power portion is fixed on described lower support dish, and is positioned at the center of described lower plate, and described central axis is fixed on the rotatable parts in described rotary power portion; The axis of described central axis is vertical with described lower support dish;
Described lower part scale and upper part scale are all fixed on described central axis, and described upper part scale is positioned at the top of described lower part scale, and described central axis drives described lower part scale and upper part scale to rotate; The axial line of described lower part scale and upper part scale overlaps with the axial line of described central axis; The diameter of described lower part scale is greater than the diameter of described upper part scale;
The sidewall of described lower part scale all offers multiple semi-circular groove along the axis direction of described lower part scale; The sidewall of described upper part scale all offers multiple semi-circular groove along the axis direction of described upper part scale; Semi-circular groove on described lower part scale is identical with the quantity of the semi-circular groove on described upper part scale, and semi-circular groove on described lower part scale is uniformly distributed along the circumference of described lower part scale, the semi-circular groove on described upper part scale is uniformly distributed along the circumference of described upper part scale;
Described holder offers third through-hole;
Described top is fixed back-up ring and is comprised rotation section, annular portion and cylindrical central sleeve; Described cylindrical central sleeve is sheathed on described central axis; Described annular portion has opening, and is fixed on described cylindrical central sleeve; The axis of described cylindrical central sleeve overlaps with the shaft center line of described annular portion; One end of described rotation section is arranged in the third through-hole of described holder rotationally, and the other end is fixed on the opening part of described annular portion; The diameter of bore that the annular portion of back-up ring is fixed on described top is less than the diameter of described upper part scale, and after described rotation section rotates to an angle in described holder, it can be fixed on described holder;
Described first manipulator is positioned at the top of the second manipulator, and described first manipulator is for capturing the upper end of described anchor pole, and described second manipulator is for capturing the lower end of described anchor pole; Thus taken out in described anchor pole storing mechanism by described anchor pole, and be delivered to the top of boring case.
Optionally, described in, the described lever apparatus that automatically send also comprises junction plate, back-up block and contiguous block; One end of described junction plate is fixed on guide rail, the upper end thereof of described back-up block is in the other end of described junction plate, the bottom of described back-up block offers strip groove, the upper end of described contiguous block is fixed in described lower plate, and being positioned at the bottom of described lower support dish, the lower end of described contiguous block is provided with screw rod, and described screw rod is perpendicular to described contiguous block, and described screw rod is through described strip groove, is fixed on described back-up block by described screw rod by nut.
Optionally, described first manipulator and the second manipulator include framework, the first axle, the second axle, upper rotor plate, lower rotor plate, the first oil cylinder, the second oil cylinder and anchor pole grabbing claw;
Described framework comprises vertical plate, the first level board and the second level board, described vertical plate is fixed on described guide rail, described vertical plate is vertically arranged, described first level board and the second level board are individually fixed in the two ends up and down of described vertical plate, and described first level board and the second level board are all horizontally disposed with, described second level board is positioned at the bottom of described first level board;
Described first axle is vertically arranged, and its two ends are individually fixed on described first level board and the second level board, and described first axle is between described first level board and the second level board;
Described second axle is vertically arranged, and described second axle is fixed on described first level board and the second level board, and the upper end of described second axle is positioned at the top of described first level board, and the lower end of described second axle is positioned at the bottom of described second level board;
Described upper rotor plate and lower rotor plate are all horizontally disposed with, and described upper rotor plate and described lower rotor plate structure are " Y " font, comprise anchor pole fixed part, the first fixed part and the second fixed part, the first fixed part of described upper rotor plate and lower rotor plate is articulated with on described first level board and the second level board by the first axle; Be provided with the 3rd axle between second fixed part of described upper rotor plate and lower rotor plate, the cylinder body of described first oil cylinder is articulated with on described upper rotor plate and lower rotor plate by described 3rd axle; Described anchor pole fixed part offers semi-circular groove;
Described anchor pole grabbing claw is articulated with on the anchor pole fixed part of described upper rotor plate and lower rotor plate by jointed shaft, and described anchor pole grabbing claw also offers semi-circular groove, the semi-circular groove of described anchor pole grabbing claw matches with the semi-circular groove of described anchor pole fixed part, realizes the crawl of anchor pole;
The piston rod of described first oil cylinder is articulated with described anchor pole grabbing claw, rotates around described jointed shaft for driving described anchor pole grabbing claw;
The cylinder body of described second oil cylinder is articulated with on described first level board and the second level board by the second axle, and the piston rod of described second oil cylinder is articulated with on described upper rotor plate and lower rotor plate by described jointed shaft.
The present invention has following beneficial effect: described coal Full-automatic mine jumbolter and automatic device for layering are installed on described chassis by described coal Full-automatic mine roofboltier, described coal Full-automatic mine roofboltier is driven to move by described crawling traction portion, and the pose of described coal Full-automatic mine jumbolter is regulated by described large arm telescopic oil cylinder, large arm amplitude modulation oil cylinder, large arm angling cylinder and drilling cramp spiral oscillating cylinder, described automatic device for layering can realize the laying of reinforcing mattress board automatically; Thus make described coal Full-automatic mine roofboltier automatically can realize the fastening and lapping operation of boring, dress bar, anchor pole; The automation due to whole process implementation, therefore its activity duration is short, efficiency is high.
Accompanying drawing explanation
Fig. 1 is the structural representation of coal Full-automatic mine roofboltier of the present invention;
Fig. 2 is the structural representation of coal Full-automatic mine roofboltier of the present invention;
Fig. 3 is the structural representation of coal Full-automatic mine roofboltier of the present invention;
Fig. 4 is the structural representation of automatic device for layering of the present invention;
Fig. 5 is the structural representation of coal Full-automatic mine jumbolter of the present invention;
Fig. 6 is the structural representation of the 3rd manipulator of the present invention;
Fig. 7 is the A portion enlarged drawing of Fig. 5;
Fig. 8 is the structural representation of brill case switching device shifter of the present invention;
Fig. 9 is the structural representation of the first fixed frame of the present invention;
Figure 10 is the structural representation of sliding frame of the present invention;
Figure 11 is the structural representation automatically sending lever apparatus of the present invention;
Figure 12 is the front view automatically sending lever apparatus of the present invention;
Figure 13 is the structural representation of the first manipulator of the present invention;
Figure 14 is the structural representation of upper rotor plate of the present invention;
Figure 15 is the structural representation that back-up ring is fixed on top of the present invention;
In figure, mark is illustrated as: 601-chassis; 602-crawling traction portion; 603-large revolution of arm ear seat; 604-large arm angling cylinder ear seat; Stabilizing mechanism before 605-; Stabilizing mechanism after 606-; 607-large arm outer sleeve; 608-large arm inner sleeve; 609-large arm telescopic oil cylinder; 610-large arm amplitude modulation oil cylinder; 611-large arm angling cylinder; 612-drilling cramp spiral oscillating cylinder; 613-large arm amplitude modulation oil cylinder ear seat; 614-slide frame; 615-rig leveling cyclinder; 616-guide rail drives oil cylinder; 617-guide rails assembling portion; 618-fixed block; 2-bores case switching device shifter; 201-base; 202-stirs oil cylinder; 203-guide rail; 204-first fixed frame; 205-second fixed frame; 206-sliding frame; 207-first travelling carriage; 208-second travelling carriage; 209-first backboard; Guide on 210-first; 211-first time guide; 212-second backboard; Guide on 213-second; 214-second time guide; 215-first bores case; 216-second bores case; 217-first fixed head; 218-second fixed head; 219-first push rod; 220-second push rod; 221-first shifting block; 222-second shifting block; 224-second positional cylinder; 3-send lever apparatus automatically; 301-lower plate; 302-rotary power portion; 303-central axis; 304-lower part scale; 305-upper part scale; 306-fixes back-up ring in top; 307-junction plate; 308-back-up block; 309-contiguous block; 310-vertical plate; 311-first level board; 312-second level board; 313-first axle; 314-second axle; The upper rotor plate of 315-; Rotor plate under 316-; 317-first oil cylinder; 318-second oil cylinder; 319-anchor pole grabbing claw; 320-anchor pole fixed part; 321-first fixed part; 322-second fixed part; 323-the 3rd axle; 324-holder; 4-the 3rd manipulator; 401-bearing; 402-electric rotating machine; 403-manipulator fixed head; 404-drilling rod fixed head; 405-locking cylinder; 5-the 4th manipulator; 501-first claw; 502-second claw; 503-performs oil cylinder; 101-rotating base; 102-ear seat; 103-first arm; 104-first oil cylinder; 105-second arm; 106-second oil cylinder; 107-the 3rd arm; 108-the 3rd oil cylinder; 109-first spiral oscillating cylinder; 110-second spiral oscillating cylinder; 111-the 3rd spiral oscillating cylinder; 112-magnetic machinery hand; 113-worm screw; 114-worm gear; 115-first ear; 116-first straight-arm; 117-second straight-arm; 118-second ear.
Detailed description of the invention
Below in conjunction with embodiment, technical scheme of the present invention is further elaborated.
Embodiment 1
Present embodiments provide a kind of coal Full-automatic mine roofboltier, it comprises chassis 601, crawling traction portion 602, large revolution of arm ear seat 603, large arm angling cylinder ear seat 604, front stabilizing mechanism 605, rear stabilizing mechanism 606, large arm telescopic oil cylinder 609, large arm amplitude modulation oil cylinder 610, large arm angling cylinder 611, drilling cramp spiral oscillating cylinder 612, slide frame 614, rig leveling cyclinder 615, guide rail driving oil cylinder 616, coal Full-automatic mine jumbolter and automatic device for layering.
Described chassis 601 is horizontally disposed with; Described crawling traction portion 602 is fixed on described chassis 601, is positioned at the bottom on described chassis 601, to be realized the movement of described coal Full-automatic mine roofboltier by described crawling traction portion 602; In the present embodiment, described crawling traction portion 602 comprises two crawler belts, and described two crawler belts lay respectively at the left and right sides on described chassis 601, thus can realize the advance of described coal Full-automatic mine roofboltier, retrogressing and left and right turn; Preferably, sensor is equipped with in described crawling traction portion 602, can detect and control the distance that described coal Full-automatic mine roofboltier advances or retreat, array pitch during for entering next row operation after having controlled Anchor Care in a row.
In the present embodiment, for when described coal Full-automatic mine roofboltier operation, improve the stability on described chassis 601, described coal Full-automatic mine roofboltier also comprises front stabilizing mechanism 605 and rear stabilizing mechanism 606, the stabilizing mechanism that described front stabilizing mechanism 605 and rear stabilizing mechanism 606 can adopt general engineering truck to adopt, namely described front stabilizing mechanism 605 and rear stabilizing mechanism 606 can be slip expansion mechanism, described front stabilizing mechanism 605 has interior external extension and upper and lower Telescopic, described rear stabilizing mechanism 606 has upper and lower Telescopic, and athletic performance can be realized by oil cylinder.Described front stabilizing mechanism 605 and rear stabilizing mechanism 606 can not only realize balance during described coal Full-automatic mine roofboltier operation, described coal Full-automatic mine roofboltier can also be supported simultaneously, make the crawling traction portion of described coal Full-automatic mine roofboltier liftoff.
Described large revolution of arm ear seat 603 and large arm angling cylinder ear seat 604 are all articulated with on described chassis 601 by different jointed shafts, and described large revolution of arm ear seat 603 is vertically arranged with the jointed shaft on described chassis 601, described large arm angling cylinder ear seat 604 is also vertically arranged with the jointed shaft on described chassis 601.
One end of described large arm outer sleeve 607 is articulated with described large revolution of arm ear seat 603, and described large arm outer sleeve 607 is horizontally disposed with the jointed shaft of described large revolution of arm ear seat 603.
Described large arm outer sleeve 607 is in hollow form, and the cross section of the endoporus of the large arm outer sleeve 607 of described hollow form is square, the cross section of described large arm inner sleeve 608 is identical with the cross section of described endoporus square, and described large arm inner sleeve 608 is slidably disposed in described large arm outer sleeve 607, and can not rotate in described large arm inner sleeve 608; In the present embodiment, for realizing the relative motion of described large arm inner sleeve 608 relative to large arm outer sleeve 607, the cylinder body of described large arm telescopic oil cylinder 609 is articulated with on the inwall of described large arm outer sleeve 607, the piston rod of described large arm telescopic oil cylinder 609 is articulated with on the inwall of described large arm inner sleeve 608, now described large arm inner sleeve 608 is also hollow structure, stretching by large arm telescopic oil cylinder 609, can realize the elastic of coal Full-automatic mine jumbolter.
Described large arm amplitude modulation oil cylinder ear seat 613 is articulated with on described chassis 601, and described large arm amplitude modulation oil cylinder ear seat 613 is vertically arranged with the jointed shaft on described chassis 601, the cylinder body of described large arm amplitude modulation oil cylinder 610 is articulated with large arm amplitude modulation oil cylinder ear seat 613, and described large arm amplitude modulation oil cylinder 610 is horizontally disposed with the jointed shaft of described large arm amplitude modulation oil cylinder ear seat 613, the piston rod of described large arm amplitude modulation oil cylinder 610 is articulated with by ball pivot in the lower wall of described large arm outer sleeve 607, now described large arm amplitude modulation oil cylinder 610 and large arm amplitude modulation oil cylinder ear seat 613 are all positioned at the bottom of described large arm outer sleeve 607, by the expanding-contracting action of large arm amplitude modulation oil cylinder 610, swinging up and down of described large arm outer sleeve 607 can be realized, thus drive swinging up and down of described coal Full-automatic mine jumbolter.In the present embodiment, preferably, the piston rod free end of described large arm amplitude modulation oil cylinder 610 is spherical hinge lug ring, and jointed shaft is through described spherical hinge lug ring, and the two ends of described jointed shaft are fixed in the lower wall of described large arm outer sleeve 607.
In the present embodiment, described large arm amplitude modulation oil cylinder 610 also can be articulated with on described large revolution of arm ear seat 603, now, the cylinder body of described large arm amplitude modulation oil cylinder 610 is articulated with described large revolution of arm ear seat 603, and the jointed shaft of the cylinder body of described large arm amplitude modulation oil cylinder 610 and described large revolution of arm ear seat 603 is horizontally disposed with; The piston rod of described large arm amplitude modulation oil cylinder 610 is articulated with in the lower wall of described large arm outer sleeve 607, and the piston rod of described large arm amplitude modulation oil cylinder 610 and the jointed shaft of described large arm outer sleeve 607 are horizontally disposed with, now described large arm amplitude modulation oil cylinder 610 is positioned at the bottom of described large arm outer sleeve 607, by the expanding-contracting action of large arm amplitude modulation oil cylinder 610, swinging up and down of described large arm outer sleeve 607 can be realized, thus drive swinging up and down of described coal Full-automatic mine jumbolter.
The cylinder body of described large arm angling cylinder 611 is articulated with on described large arm angling cylinder ear seat 604, on the left side wall that the piston rod of described large arm angling cylinder 611 is articulated with described large arm outer sleeve 607 by ball pivot or right side wall; Described large arm angling cylinder 611 and described large arm angling cylinder ear seat 604 are positioned at left side (see Fig. 1) or the right side (not shown) of described large arm outer sleeve 607 simultaneously; By the expanding-contracting action of large arm angling cylinder 611, swinging of described large arm outer sleeve 607 can be realized, thus drive swinging of described coal Full-automatic mine jumbolter.In the present embodiment, preferably, the piston rod free end of described large arm angling cylinder 611 is spherical hinge lug ring; Jointed shaft is through described spherical hinge lug ring, and its two ends are fixed on the left side wall of described large arm outer sleeve 607.
The cylinder body of described drilling cramp spiral oscillating cylinder 612 is fixed on described large arm inner sleeve 608 and is positioned at one end outside described large arm outer sleeve 607, and the lower hinge of described slide frame 614 is on the turning cylinder of described drilling cramp spiral oscillating cylinder 612; And the jointed shaft of the turning cylinder of described slide frame 614 and described drilling cramp spiral oscillating cylinder 612 is perpendicular to the turning cylinder of described drilling cramp spiral oscillating cylinder 612; The cylinder body of described rig leveling cyclinder 615 is articulated with on the cylinder body of described drilling cramp spiral oscillating cylinder 612, and its piston rod is articulated with the top of described slide frame 614; Described guide rail 203 is slidably disposed on described slide frame 614, and namely described guide rail 203 can move up and down along described slide frame 614; Described guide rail drives the cylinder body of oil cylinder 616 to be articulated with on described slide frame 614; Described guide rail drives the piston rod of oil cylinder 616 to be articulated with on described guide rail 203, and described guide rail drives oil cylinder 616 parallel with described guide rail 203, when described guide rail drives oil cylinder 616 stretching motion, described guide rail 203 can be made to move up and down along described slide frame 614; Thus realize described coal Full-automatic mine jumbolter and move up and down; When described drilling cramp spiral oscillating cylinder 612 rotates, the rotation of described slide frame 614 can be realized, thus realize the rotation of described guide rail 203, namely achieve the rotation of described coal Full-automatic mine jumbolter; When 615 action of described rig leveling cyclinder, can realize described slide frame 614 around the jointed shaft of the turning cylinder of itself and described drilling cramp spiral oscillating cylinder 612 rotates, can control the attitude of described coal Full-automatic mine jumbolter, for realizing described coal Full-automatic mine jumbolter when operation, its drilling rod is perpendicular to rib.
In the present embodiment, described slide frame 614 comprises guide rails assembling portion 617 and fixed block 618, described fixed block 618 is fixed in described guide rails assembling portion 617, and is formed with groove between described guide rails assembling portion 617 and fixed block 218, and described guide rail 203 is slidably disposed in described groove; More preferably, described guide rail 203 is provided with gib block, described gib block is parallel with described guide rail 203, and described gib block is positioned at described groove.
The worm gear 114 of described automatic device for layering is arranged on described chassis 601 rotationally, and is positioned at the right side of described large arm outer sleeve 607, and described automatic device for layering can realize the automatic laying of reinforced mesh at top, tunnel or tunnel sidewall.
Described automatic device for layering comprises rotating base 101, ear seat 102, first arm 103, first oil cylinder 104, second arm 105, second oil cylinder 106, the 3rd arm 107, the 3rd oil cylinder 108, first spiral oscillating cylinder 109, second spiral oscillating cylinder 110, the 3rd spiral oscillating cylinder 111 and magnetic machinery hand 112.
Described rotating base 101 is installed on the chassis of described coal Full-automatic mine roofboltier in use, described rotating base 101 comprises hydraulic motor and worm-and-wheel gear, described hydraulic motor is fixed on described chassis, described worm screw 113 is fixed on the output shaft of described hydraulic motor, to be rotated by worm screw 113 described in described fluid motor-driven, described worm gear 114 is arranged on described chassis rotationally, described worm screw 113 is matched with described worm gear 114, and described worm screw 113 drives described worm gear 114 to rotate; In the present embodiment, preferably, described chassis level is arranged, and described worm screw 113 is horizontally disposed with, and described worm gear 114 is vertically arranged.
Described ear seat 102 is fixed on described worm gear 114, when described worm gear 114 rotates, and described ear seat 102 synchronous axial system.
One end of described first arm 103 is articulated with on described ear seat 102, and described first arm 103 comprises two the first ears 115 with the hinged end of described ear seat 102, and described two the first ear 115 sizes are identical, and are parallel to each other; Described ear seat 102 between described two the first ears 115, and contacts with described two the first ears 115; In the present embodiment, preferably, described first arm 103 is V-shaped, it comprises the first straight-arm 116 and the second straight-arm 117, one end of described first straight-arm 116 and one end of the second straight-arm 117 fix, and the angle between described first straight-arm 116 and the second straight-arm 117 is 135 degree, the other end of described first straight-arm 116 is articulated with described ear seat 102.
The cylinder body of described first oil cylinder 104 is articulated with on described ear seat 102, and the piston rod of described first oil cylinder 104 is articulated with the middle part of the second straight-arm 117 of described first arm 103; In the present embodiment, described first oil cylinder 104 does not overlap around the rotation of described ear seat 102 with described first straight-arm 116 around the rotation of described ear seat 102, thus pass through the stretching motion of described first oil cylinder 104, realize described first arm 103 and rotate with the jointed shaft of ear seat 102 relative to described first arm 103.
Described second arm 105 is linearly, and its one end is articulated with the other end of described first arm 103, is namely articulated with the other end of described second straight-arm 117; Preferably, described first arm 103 comprises two the second ears 118 with the hinged end of described second arm 105, the size of described two the second ears 118 is identical, and be parallel to each other, one end of described second arm 105 between described two the second ears 118, and contacts with described two the second ears 118.
The cylinder body of described second oil cylinder 106 is articulated with the middle part of the second straight-arm 117 of described first arm 103, the piston rod of described second oil cylinder 106 is articulated with described second arm 105 one end near described first arm 103, and described first oil cylinder 104 and the second oil cylinder 106 are in same plane, thus pass through the stretching motion of described second oil cylinder 106, realize described second arm 105 and rotate relative to the jointed shaft of described second arm 105 and the first arm 103.In the present embodiment, preferably, described first arm 103 and described second arm 105 are also in same plane.
The other end of described second arm 105 is hollow form, and described 3rd arm 107 is slidably disposed in described second arm 105, and does not relatively rotate with described second arm 105; Preferably, described second arm 105 offers square opening along its length, the cross section of described 3rd arm 107 is identical with described square opening, described 3rd arm 107 is linearly, to be realized the guiding to described 3rd arm 107 by described square opening, prevent from relatively rotating between described 3rd arm 107 and the second arm 105.
The cylinder body of described 3rd oil cylinder 108 is articulated with on described second arm 105, and the pin joint of the cylinder body of described 3rd oil cylinder 108 and described second arm 105 is at the pin joint of described second oil cylinder 106 and described second arm 105 and between the first arm 103 and the pin joint of the second arm 105; The piston rod of described 3rd oil cylinder 108 is articulated with on described 3rd arm 107, thus realizes the flexible of described 3rd arm 107 by the stretching motion of the 3rd oil cylinder 108.
The cylinder body of described first spiral oscillating cylinder 109 is fixed on described 3rd arm 107 one end away from described second arm 105, the cylinder body of described second spiral oscillating cylinder 110 is fixed on the dwang of described first spiral oscillating cylinder 109, and the dwang of described second spiral oscillating cylinder 110 is vertical with the dwang of described first spiral oscillating cylinder 109; The cylinder body of described 3rd spiral oscillating cylinder 111 is fixed on the dwang of described second spiral oscillating cylinder 110, and the dwang of described 3rd spiral oscillating cylinder 111 is perpendicular to the dwang of described second spiral oscillating cylinder 110; Described magnetic machinery hand 112 is fixed on the dwang of described 3rd spiral oscillating cylinder 111, three spiral oscillating cylinders realize a rotary freedom respectively, thus 3 rotary freedoms can be realized, when the first spiral oscillating cylinder 109, second spiral oscillating cylinder 110 and the 3rd spiral oscillating cylinder 111 rotate, the Three Degree Of Freedom realizing described magnetic machinery hand 112 rotates.
Described magnetic machinery hand 112 can comprise an electromagnet, and when described electromagnet energising, it produces magnetic field, and described magnetic machinery hand 112 can adsorb reinforced mesh, thus realizes described magnetic machinery hand 112 to the crawl of described reinforced mesh; When described electromagnet power-off, described magnetic machinery hand 112 is separated with described reinforced mesh.
In the present embodiment, for realizing the fuel feeding to described first oil cylinder 104, second oil cylinder 106, the 3rd oil cylinder 108, first spiral oscillating cylinder 109, second spiral oscillating cylinder 110 and the 3rd spiral oscillating cylinder 111, the automatic device for layering of described coal Full-automatic mine roofboltier also comprises oil supply system and many fluid pressure lines, and described first oil cylinder 104, second oil cylinder 106, the 3rd oil cylinder 108, first spiral oscillating cylinder 109, second spiral oscillating cylinder 110 are connected with described oil supply system respectively by one article of fluid pressure line with the 3rd spiral oscillating cylinder 111; For realizing controlling described first oil cylinder 104, second oil cylinder 106, the 3rd oil cylinder 108, first spiral oscillating cylinder 109, second spiral oscillating cylinder 110 and the 3rd spiral oscillating cylinder 111 are independent, described every bar fluid pressure line is provided with switch valve and choke valve; Further; for realizing the tactile wall overload protection of the automatic device for layering of described coal Full-automatic mine roofboltier; described every bar fluid pressure line is provided with pressure sensor; when the automatic device for layering of described coal Full-automatic mine roofboltier touches rib; the pressure of fluid pressure line exceedes the service pressure of setting; after pressure sensor receives pressure signal, be passed to protective device, thus make the automatic device for layering stop motion of described coal Full-automatic mine roofboltier.
The automatic device for layering of coal Full-automatic mine roofboltier of the present invention, by the rotation of the worm gear of rotating base 101, realizes the left and right translation of described magnetic machinery hand 112; And pass through the stretching motion of the first oil cylinder 104 and the second oil cylinder 106, realize the upward-downward translation of described magnetic machinery hand 112; By the stretching motion of described 3rd oil cylinder 108, realize the front and back translation of described magnetic machinery hand 112; And by the rotation of described three spiral oscillating cylinders, realize 3 rotary freedoms of magnetic machinery hand 112; Described magnetic machinery hand 112 realizes crawl and the laying of reinforced mesh, and the automatic device for layering of visible coal Full-automatic mine roofboltier of the present invention can realize the automatic laying of reinforced mesh, improves the laying efficiency of reinforced mesh.
In the present embodiment, the piston rod of described first oil cylinder 104 and the cylinder barrel of the second oil cylinder 106 are articulated with on described second straight-arm 117 by same jointed shaft.
The automatic device for layering of coal Full-automatic mine roofboltier of the present invention is by the combination of manipulator and multiple degrees of freedom arm; realize the crawl of reinforced mesh, conveying and laying location; there is wide accommodation; lay the effects such as efficiency is high; and there is the functions such as tactile wall protection, improve the safety of lapping operation.
Described coal Full-automatic mine jumbolter comprises brill case switching device shifter 2, automatically send lever apparatus 3, the 3rd manipulator 4 and the 4th manipulator 5.
On the described guide rail automatically sending lever apparatus 3 to be fixed on described brill case switching device shifter 2, and be positioned at the left side of described guide rail, described 3rd manipulator 4 is fixed on the guide rail of described brill case switching device shifter 2, and is positioned at the right side of described guide rail; Described 4th manipulator 5 is fixed on the upper end of the guide rail of described brill case switching device shifter 2.
Described 3rd manipulator comprises bearing 401, electric rotating machine 402, manipulator fixed head 403, drilling rod fixed head 404 and locking cylinder 405;
Described bearing 401 is fixed on described guide rail 203, and be positioned at the right side of described guide rail 203, described electric rotating machine 402 is fixed on described bearing 401, the upper end of the rotor of described electric rotating machine 402 is arranged on described bearing 401 rotationally, described manipulator fixed head 403 is fixed on the rotor of described electric rotating machine 402, described electric rotating machine 402 drives described manipulator fixed head 403 to rotate, and described drilling rod fixed head 404 is fixed on described manipulator fixed head 403, and is horizontally disposed with; Described drilling rod fixed head 404 offers the groove of vertical direction, described groove extends along the described width along drilling rod fixed head 404, described groove can accommodating described drilling rod, the cylinder body of described locking cylinder 405 is fixed on described drilling rod fixed head 404, when the piston rod of described locking cylinder 405 stretches out, the piston rod of described locking cylinder 405 coordinates with described drilling rod fixed head 404, realizes the locking of drilling rod.
When the second brill case 216 of described brill case switching device shifter 2 moves right, described electric rotating machine 402 rotates clockwise, now described drilling rod fixed head 404 drives the upper end of described drilling rod to rotate, due to drilling rod longer (being generally greater than 2m), and there is certain elasticity, therefore, described drilling rod can be considered as boring with described second case 216 and synchronously move right, until second bores case 216 and move to described second fixed frame 205 place.
Described 4th manipulator 5 comprises the first claw 501, second claw 502 and performs oil cylinder 503;
Described first claw 501 is identical with the second claw 502 structure, and is symmetrical arranged; Described first claw 501 and the second claw 502 are articulated with the upper end of described guide rail 203 respectively by different jointed shafts; The front end of described first claw 501 and the front end edge vertical direction of described second claw 502 all offer semi-circular groove, and the rear end of described first claw 501 and the second claw 502 is hinged with cylinder body and the piston rod of described execution oil cylinder 503 respectively; When 503 action of described execution oil cylinder, described first claw 501 and the second claw 502 move toward one another, the semi-circular groove of described first claw 501 and the semi-circular groove of the second claw 502 are bonded into a whole circular trough, and drilling rod or anchor pole can be fixed in described whole circular trough.
Described brill case switching device shifter comprises base 201, stirs oil cylinder 202, guide rail 203, first fixed frame 204, second fixed frame 205, sliding frame 206, first travelling carriage 207, second travelling carriage 208, first bore case 215, second and bore case 216, first push rod 219, second push rod 220, first shifting block 221 and the second shifting block 222.
Described base 201 comprises base portion and is fixed on two alar parts at described base portion two ends, and described two alar parts perpendicular to described base portion, and are parallel to each other, and are positioned at the homonymy of described base portion.
Described oil cylinder 202 of stirring is for the two outlet-rod hydraulic cylinder of single piston type, described two piston rods stirring oil cylinder 202 are individually fixed in described two alar parts, when to described stir oil cylinder 202 fuel feeding time, described in stir oil cylinder 202 cylinder body can move back and forth between described two alar parts.
Described guide rail 203 is fixed on described base 201, and perpendicular to described base 201, in the present embodiment, described guide rail 203 is vertically arranged, and described base 201 is horizontally disposed with, and described guide rail 203 is fixed on the base portion of described base 201; More preferably, for improving the stability of described guide rail 203 guiding, described guide rail 203 is two, and the lower end of described two guide rails 203 is all fixed on the base portion of described base 201, and is parallel to each other between two guide rails 203.
Described first fixed frame 204 and the second fixed frame 205 are all fixed on described base 201, and described first fixed frame 204 is identical with the second fixed frame 205 structure; Described sliding frame 206 is slidably disposed on described guide rail 203; And described sliding frame 206 is between described first fixed frame 204 and the second fixed frame 205; In the present embodiment, preferably, described first fixed frame 204 and the second fixed frame 205 include guide 210 and first time guide 211 on the first backboard 209, first; On described first, the cross section of guide 210 and first time guide 211 is all L-shaped, namely comprises mutual level board connected vertically and vertical plate; On described first, the upper end of described first backboard 209 is fixed in one end (free end) of the level board of guide 210, forms a upper rail groove that Open Side Down; The lower end of described first backboard 209 is fixed in one end (free end) of the level board of described first time guide 211, form the lower guideway groove of an opening upwards, described upper rail groove and lower guideway slot in the same side of described first backboard, and are parallel to each other.
Described sliding frame 206 comprises guide 213 and second time guide 214 on the second backboard 212, second; Vertical direction along described second backboard 212 offers gathering sill, described gathering sill coordinates with described guide rail 203, thus described sliding frame 206 can be slided along described guide rail 203, on described second, the cross section of guide 213 and second time guide 214 is all L-shaped, namely comprises mutual level board connected vertically and vertical plate; On described second, the upper end of described second backboard 212 is fixed in one end (free end) of the level board of guide 213, forms a upper rail groove that Open Side Down; The lower end of described second backboard 212 is fixed in one end (free end) of the level board of described second time guide 214, form the lower guideway groove of an opening upwards, the upper rail groove of described sliding frame 206 and lower guideway slot in the same side of described second backboard 212, and are parallel to each other; The upper rail groove of described gathering sill and described sliding frame 206 lays respectively at the both sides of described second backboard 212; When described sliding frame 206 is positioned at extreme lower position, the upper rail groove of the upper rail groove of described first fixed frame 204, the upper rail groove of the second fixed frame 205 and described sliding frame 206 in the same horizontal line, meanwhile, the lower guideway groove of the lower guideway groove of described first fixed frame 204, the lower guideway groove of described second fixed frame 205 and described sliding frame 206 in the same horizontal line.
Described first travelling carriage 207 is slidably disposed in described first fixed frame 204, namely the upper end of described first travelling carriage 207 is positioned at the upper rail groove of described first fixed frame 204, and can slide along the upper rail groove of described first fixed frame 204, the lower end of described first travelling carriage 207 is positioned at the lower guideway groove of described first fixed frame 204, and can slide along the lower guideway groove of described first fixed frame 204, thus described first travelling carriage 207 can slide in described sliding frame 206 from described first fixed frame 204, also can slide in described first fixed frame 204 from described sliding frame 206, described second travelling carriage 208 is slidably disposed in described sliding frame 206, and described second travelling carriage 208 is identical with the structure of described first travelling carriage 207, described second travelling carriage 208 also can slide in described second fixed frame 205 from described sliding frame 206, also can slide in described sliding frame 206 from described second fixed frame 205, described first bores case 215 is fixed on described first travelling carriage 207, and described second bores case 216 is fixed on described second travelling carriage 208, in the present embodiment, preferably, described first travelling carriage 207 also comprises the first fixed head 217, described first fixed head 217 is horizontally disposed with, one end of described first fixed head 217 is fixed on described first travelling carriage 207, and perpendicular to described first travelling carriage 207, now described first travelling carriage 207 is vertically arranged, described first bores the other end that case 215 is fixed on described first fixed head 217, and described first brill case 215 is vertically arranged.
Described second travelling carriage 208 also comprises the second fixed head 218, described second fixed head 218 is horizontally disposed with, one end of described second fixed head 218 is fixed on described second travelling carriage 208, and perpendicular to described second travelling carriage 208, now described second travelling carriage 208 is vertically arranged, described second bores the other end that case 216 is fixed on described second fixed head 218, and described second brill case 216 is vertically arranged.
Described first travelling carriage 207 is provided with the first push rod 219; Described second travelling carriage 208 is provided with the second push rod 220; Described stirring on oil cylinder 202 is respectively arranged with the first shifting block 221 and the second shifting block 222, described first shifting block 221 is identical with the structure of the second shifting block 222, include the first fin and the second fin, described first fin and the second fin be arranged in parallel, between there is gap; Described first push rod 219 is in the gap between first fin and the second fin of described first shifting block 221; Described second push rod 220 is in the gap between first fin and the second fin of described second shifting block 222; In the present embodiment, preferably, described first push rod 219 and the second push rod 220 are all in " L " type, namely mutual horizon bar connected vertically and vertical bar is comprised, described first travelling carriage 207 is fixed in one end (free end) of the horizon bar of described first push rod 219, one end (free end, i.e. lower end) of the vertical bar of described first push rod 219 is in the gap between first fin and the second fin of described first shifting block 221; Same, described second travelling carriage 208 is fixed in one end (free end) of the horizon bar of described second push rod 220, one end (free end, i.e. lower end) of the vertical bar of described second push rod 220 is in the gap between first fin and the second fin of described second shifting block 222; When described stir oil cylinder 202 move back and forth time, described first shifting block 221 and the second shifting block 222 drive described first travelling carriage 207 and the second travelling carriage 208 to move by described first push rod 219 and the second push rod 220, make described first travelling carriage 207 or the second travelling carriage 208 be positioned at described sliding frame 206, thus described first can be driven to bore case 215 for described sliding frame 206 or the second brill case 216 moves upward.
In the present embodiment, preferably, for improving the kinematic accuracy of described first travelling carriage 207 and the second travelling carriage 208, when described first push rod 219 is between first fin and the second fin of described first shifting block 221, the first fin and second fin of described first push rod 219 and described first shifting block 221 contact; When described second push rod 220 is between first fin and the second fin of described second shifting block 222, the first fin and second fin of described second push rod 220 and described second shifting block 222 contact.
In the present embodiment, for fixing of the position when described first travelling carriage 207 is positioned at described sliding frame 206, described first travelling carriage 207 comprises the first positional cylinder, described sliding frame 206 second on guide 213 level board on offer locating hole, the cylinder body of described first positional cylinder is fixed on described first travelling carriage 207, and described first positional cylinder is vertically arranged, the piston rod of described first positional cylinder can insert in described locating hole, when described first travelling carriage 207 slides in described sliding frame 206, described first positional cylinder action, the piston rod of described first positional cylinder is inserted described locating hole, realize described first travelling carriage 207 position fixing in described sliding frame 206, more preferably, described first positional cylinder can be the two outlet-rod hydraulic cylinder of dual Piston, now, the level board of second time guide 214 of described sliding frame 206 also offers locating hole, when described first positional cylinder action, its upper piston rod and lower piston rod can insert respectively described sliding frame 206 second in locating hole on guide 213 and second time guide 214.
In the present embodiment, for fixing of the position when described second travelling carriage 208 is positioned at described sliding frame 206, described second travelling carriage 208 comprises the second positional cylinder 224, and the cylinder body of described second positional cylinder 224 is fixed on described second travelling carriage 208, and vertically arranges; Preferably, described second positional cylinder 224 also can be the two outlet-rod hydraulic cylinder of dual Piston; When described second travelling carriage 208 is positioned at described sliding frame 206, the piston rod of described second positional cylinder 224 can insert described sliding frame 206 second on guide 213 locating hole in; Or its upper piston rod and lower piston rod insert respectively described sliding frame 206 second on guide 213 and second time guide 214 locating hole in.
In the present embodiment, for driving described sliding frame 206, the brill case switching device shifter of described coal Full-automatic mine jumbolter also comprises chain gearing, and described chain gearing comprises upper sprocket wheel, lower sprocket, chain, drive sprocket and motor; Described upper sprocket wheel is rotatably installed on the upper end of described guide rail; Described lower sprocket is rotatably installed on the lower end of described guide rail, and described chain drive connects described upper sprocket wheel and lower sprocket; Described sliding frame 206 is fixed on described chain; Described motor drives described drive sprocket to rotate, and described drive sprocket is connected with described chain drive, for driving described chain movement.
In use, drilling rod is fixed on the second brill case 216 the brill case switching device shifter of coal Full-automatic mine jumbolter of the present invention all the time, and described sliding frame 206, under the drive of described chain, moves upward; After having holed, described sliding frame 206 drops to initial position; Now, stir the first shifting block 221 on oil cylinder 202 and the second shifting block 222 drives described first travelling carriage 207 and the second travelling carriage 208 to move right a segment distance, until described first travelling carriage 207 is positioned at described sliding frame 206, described second travelling carriage 208 is positioned at described second fixed frame 205, described first positional cylinder action, the described position of the first travelling carriage 207 in described sliding frame 206 is fixed, thus complete switching of boring case.
The brill case switching device shifter of coal Full-automatic mine jumbolter of the present invention stirs by one the switching that oil cylinder 202 two of realizing in same straight line upper rail groove and lower guideway groove bore case, has saved a set of slide rail, has effectively saved usage space; And two brill casees work alone separately, non-interference.
The described lever apparatus that automatically send comprises anchor pole storing mechanism, the first manipulator, the second manipulator and holder;
Described anchor pole storing mechanism comprises lower plate 301, rotary power portion 302, central axis 303, lower part scale 304, upper part scale 305 and top and fixes back-up ring 306;
Described lower plate 301 is rounded, and its edge raises up.
Described rotary power portion 302 can be motor, also can be hydraulic motor equal power device, the center of described lower support dish 301 is fixed in described rotary power portion 302, and described central axis 303 is fixed on the rotatable parts in described rotary power portion 302, such as, on the rotor of motor and hydraulic motor; The axis of described central axis 303 is vertical with described lower support dish 301.
The center of described lower part scale 304 offers the first through hole, and the sidewall of described lower part scale 304 offers multiple semi-circular groove along the axis direction of described lower part scale 304, and the bottom of anchor pole can be placed in described semi-circular groove.In the present embodiment, preferably, described multiple semi-circular groove is uniformly distributed along the circumference of described lower part scale 304, and described central axis 303 is through the first through hole of described lower part scale 304, and described lower part scale 304 is fixed on described central axis 303.
The center of described upper part scale 305 offers the second through hole, and the sidewall of described upper part scale 305 offers multiple semi-circular groove along the axis direction of described upper part scale 305, the quantity of the semi-circular groove of described upper part scale 305 is identical with the quantity of the semi-circular groove of described lower part scale 304, and the top of described anchor pole can be placed in the semi-circular groove of described upper part scale 305.In the present embodiment, preferably, multiple semi-circular groove of described upper part scale 305 are uniformly distributed along the circumference of described upper part scale 305, and described central axis 303 is through the second through hole of described upper part scale 305, and described upper part scale 305 is fixed on described central axis 303.
In the present embodiment, the diameter of described upper part scale 305 is less than the diameter of described lower part scale 304, and described upper part scale 305 is positioned at the top of described lower part scale 304, thus when making described anchor pole be placed in the semicircle orifice of described lower part scale 304 and upper part scale 305, the angle between described anchor pole and described central axis 303 is 20 degree.
Described holder 324 is fixed on described guide rail, offers third through-hole in the middle part of described holder.
Described top is fixed back-up ring 306 and is comprised rotation section, annular portion and cylindrical central sleeve; Described annular portion has opening, and described cylindrical central sleeve is sheathed on described central axis 303, and fixes with described annular portion, and the axis of described cylindrical central sleeve overlaps with the shaft center line of described annular portion; Described rotation section can be dwang, and one end of described rotation section is arranged in the third through-hole of described holder 324 rotationally, and the other end is fixed on the opening part of described annular portion; The diameter of bore that the annular portion of back-up ring 306 is fixed on described top is less than the diameter of described upper part scale 305, and after described rotation section rotates to an angle in described holder 324, it can be fixed on described holder.
Described first manipulator is positioned at the top of the second manipulator, and described first manipulator is for capturing the upper end of described anchor pole, and described second manipulator is for capturing the lower end of described anchor pole; Thus taken out in described anchor pole storing mechanism by described anchor pole, and be delivered to the top of boring case.
In the present embodiment, described coal Full-automatic mine jumbolter automatically send lever apparatus in use, described anchor pole storing mechanism can be fixed on guide rail.That considers described coal Full-automatic mine jumbolter send lever apparatus in use automatically, in the anchor pole stored in described anchor pole storing mechanism one need be adjusted to vertical attitude, described first manipulator and the second gripper of manipulator fetch bit are in the anchor pole of described vertical attitude; Be positioned at the anchor pole place of vertical attitude described in the opening that back-up ring 306 is fixed on described top is also positioned at, after described first manipulator and the second manipulator capture anchor pole, described anchor pole takes out by the opening part fixing back-up ring 306 from described top.
For realizing the adjustment of described anchor pole storing mechanism attitude, the lever apparatus that automatically send of described coal Full-automatic mine jumbolter also comprises junction plate 307, back-up block 308 and contiguous block 309, one end of described junction plate 307 is fixed on described guide rail, the upper end thereof of described back-up block 308 is in the other end of described junction plate 307, the bottom of described back-up block 308 offers strip groove, described strip groove is downward-sloping (see Fig. 2) from left to right, the upper end of described contiguous block 309 is fixed in described lower plate 301, and be positioned at the bottom of described lower support dish 301, the lower end of described contiguous block 309 is provided with screw rod, described screw rod is perpendicular to described contiguous block 309, and described screw rod is through described strip groove, by nut, described screw rod is fixed on described back-up block 308, thus the pose of described anchor pole storing mechanism is adjusted by the adjustment position of screw rod in described strip groove.
Described first manipulator is identical with the structure of the second manipulator, includes framework, the first axle 313, second axle 314, upper rotor plate 315, lower rotor plate 316, first oil cylinder 317, second oil cylinder 318 and anchor pole grabbing claw 319.
Described framework comprises vertical plate 310, first level board 311 and the second level board 312, described vertical plate 310 is fixed on described guide rail, and described vertical plate 310 is vertically arranged, described first level board 311 and the second level board 312 are individually fixed in the two ends up and down of described vertical plate 310, and described first level board 311 and the second level board 312 are all horizontally disposed with, described second level board 312 is positioned at the bottom of described first level board 311.
Described first axle 313 is vertically arranged, and its two ends are individually fixed on described first level board 311 and the second level board 312, and described first axle 313 is between described first level board 311 and the second level board 312.
Described second axle 314 is vertically arranged, and described second axle 314 is fixed on described first level board 311 and the second level board 312, the upper end of described second axle 314 is positioned at the top of described first level board 311, and the lower end of described second axle 314 is positioned at the bottom of described second level board 312.
Described upper rotor plate 315 and lower rotor plate 316 are all horizontally disposed with, and described upper rotor plate 315 is identical with described lower rotor plate 316 structure, be " Y " font, namely comprise interconnective anchor pole fixed part 320, first fixed part 321 and the second fixed part 322, the first fixed part 321 of described upper rotor plate 315 and lower rotor plate 316 is articulated with on described first level board 311 and the second level board 312 by the first axle 313; Be provided with the 3rd axle 323 between described upper rotor plate 315 and the second fixed part 322 of lower rotor plate 316, the cylinder body of described first oil cylinder 317 is articulated with on described upper rotor plate 315 and lower rotor plate 316 by described 3rd axle 323; Described anchor pole fixed part 320 offers semi-circular groove.
Described anchor pole grabbing claw 319 is articulated with on the anchor pole fixed part 320 of described upper rotor plate 315 and lower rotor plate 316 by jointed shaft, and described anchor pole grabbing claw 319 also offers semi-circular groove, the semi-circular groove of described anchor pole grabbing claw 319 matches with the semi-circular groove of described anchor pole fixed part 320, realizes the crawl of anchor pole.
The piston rod of described first oil cylinder 317 is articulated with described anchor pole grabbing claw 319, rotates around described jointed shaft for driving described anchor pole grabbing claw 319.
The cylinder body of described second oil cylinder 318 is articulated with described first level board 311 and the second level board 312 by the second axle 314, and the piston rod of described second oil cylinder 318 is articulated with described upper rotor plate 315 and lower rotor plate 316 by described jointed shaft; When described second oil cylinder 318 action, described upper rotor plate 315 and lower rotor plate 316 rotate around described first axle 313, thus realize the change of the position of described anchor pole.
Automatically in the semi-circular groove sending lever apparatus to be stored in by anchor pole by anchor pole storing mechanism on described upper part scale 305 and lower part scale 304 of coal Full-automatic mine jumbolter of the present invention, the crawl of anchor pole, conveying and location is realized by the first manipulator and the second manipulator, realize the automated job of anchor pole course of conveying, improve the efficiency that changes the outfit of anchor pole and drilling rod, shorten the Bracing Process time in tunnel, decrease the landslide risk in tunnel.
In the present embodiment, the quantity of the semi-circular groove of described upper part scale 305 and lower part scale 304 is 10.
Coal Full-automatic mine jumbolter of the present invention automatically send the first manipulator of lever apparatus and the second manipulator promptly described anchor pole rotate simultaneously, anchor pole is delivered to drilling rod center line, coordinate the carrying out of other operations, after anchor pole is effectively fixed, described first manipulator and the second manipulator unclamp described anchor pole, and initial position is got back in rotation, now, rotary power portion band central shaft, upper part scale and lower part scale rotate a certain angle, an anchor pole in described anchor pole storing mechanism is made to move to the Zhua Gan center of the first manipulator and the second manipulator, described first cylinder action, described first manipulator and the second manipulator is made to firmly grasp this root anchor pole, wait for working cycles next time.
In the present embodiment, preferably, the central angle that the opening of back-up ring 306 is fixed on described top is less than 360 ° of quantity divided by the semi-circular groove of described upper part scale 305.
In the present embodiment, described holder 324 is fixed on for realizing that back-up ring 306 is fixed on described top, the rotation section that back-up ring 306 is fixed on described top offers external screw thread, described rotation section is through described holder 324, by two nuts, back-up ring 306 being fixed on described top is fixed on described holder 324, and now described two nuts lay respectively at the both sides of described holder 324.
Coal Full-automatic mine jumbolter of the present invention automatically send lever apparatus when mounted, for ensureing that it comprises an anchor pole vertically arranged, now can be fixed the position of the screw rod of back-up ring 306 and described contiguous block 309 by the described top of adjustment, realize the adjustment of described anchor pole storing mechanism pose.After adjustment completes, the relative position of described anchor pole storing mechanism and described guide rail immobilizes.
In the present embodiment, described coal Full-automatic mine jumbolter also comprises Anchor Agent carrier pipe and hoist cylinder, the cylinder body of described hoist cylinder is fixed on described bearing 401, described Anchor Agent carrier pipe is fixed on the piston rod of described hoist cylinder, and described Anchor Agent carrier pipe can be driven by described hoist cylinder the translation realized on vertical direction.
Coal Full-automatic mine jumbolter of the present invention can realize boring, dress bar and anchor pole terminal operation automatically, and described drilling rod bores case with first all the time and is connected, until drilling rod is changed.During described 4th manipulator clamping, location and the guiding of drilling rod or anchor pole can be realized; When described 4th manipulator opens, described first can be dodged and bore case and the second brill case.3rd manipulator can clamp described drilling rod, and realizes the motion of described drilling rod upper end.Described electric rotating machine can rotate two different angles, when dropping to initial position after drilling rod boring terminates, drilling rod firmly grasped by described 3rd manipulator, 4th manipulator loose spuds in bar, described electric rotating machine rotates an angle, make Anchor Agent carrier pipe aim at the hole of boring, hoist cylinder promotes Anchor Agent carrier pipe and rises to suitable distance, and Anchor Agent spraying system is spurted into Anchor Agent in boring by mode accurately.After injection completes, described electric rotating machine drives described drilling rod to move right.
Coal Full-automatic mine jumbolter of the present invention by second bore case drive drilling rod along described guide rail move upward realize boring, after drilling rod enters rib one segment distance, the 4th manipulator opens, until drilling rod reaches the degree of depth of specifying; Then the second brill case carries drilling rod decline, and when after described drilling rod decline certain distance, described 4th manipulator clamps described drilling rod, and the top of described drilling rod is located, until drilling rod drops to extreme lower position.Described 3rd manipulator, under the drive of electric rotating machine, rotates to drilling rod center, and clamps drilling rod; Now, described 4th manipulator opens, described 3rd manipulator is under the drive of electric rotating machine, turn an angle, Anchor Agent carrier pipe is made to aim at the hole of boring, hoist cylinder promotes Anchor Agent carrier pipe and rises to suitable distance, and Anchor Agent spraying system is spurted into Anchor Agent in boring by mode accurately.Hoist cylinder promotes Anchor Agent carrier pipe and drops to initial position, and spray pharmaceutical worker sequence completes.First bore case and second bore case all move right, described 3rd manipulator makes described drilling rod synchronously move right under the drive of electric rotating machine, described in stir cylinder movement to the rightmost side, first bore case is positioned on the center line in bored hole.Anchor pole takes out by described first manipulator and the second manipulator from described anchor pole storing mechanism, and moves on bored centerline hole position, and described first bores case moves upward, and is connected with anchor pole.Anchor pole decontroled by described first manipulator and the second manipulator, and moves to initial position; Now the first brill case continues to move upward, after rising to certain altitude, and the 4th manipulator clamping, and be described anchor pole guiding, make anchor pole enter bored hole, after rising to certain altitude again, 4th manipulator opens, and the anchor pole as requested degree of depth enters bored hole and stirs Anchor Agent; According to technological requirement, first bores case stops moving upward, and keeps rotating, until anchor pole safety pin cuts off.After waiting for a period of time, described first bores case drops to extreme lower position; Described first bores case and described second bores case to left movement, revert to initial position, offers new bore process.
In the present embodiment, for carrying out fuel feeding and control to each oil cylinder of the present invention, described coal Full-automatic mine roofboltier also comprises hydraulic power station and electric control box, described hydraulic power station carries out fuel feeding to each oil cylinder, and described electric control box is used for controlling execution units such as described oil cylinder and motors.
Coal Full-automatic mine roofboltier of the present invention can according to given spacing and array pitch parameter, automatically the movement of complete machine, location, lapping, punching, spray medicine, dress bar and anchor pole terminal operation is realized, automaticity is high, and make the whole operation process time short, efficiency is high.
Coal Full-automatic mine roofboltier of the present invention passes through the control of crawling traction portion and sensor thereof, can detect and the distance controlling complete machine advance or retreat, automatically realize complete machine and move and locate; By the control of large arm amplitude modulation oil cylinder, large arm angling cylinder, large arm telescopic oil cylinder, drilling cramp spiral oscillating cylinder and rig leveling cyclinder and sensor thereof, the control of coal Full-automatic mine jumbolter Anchor Care anchor pole time interval can be completed.When described coal Full-automatic mine roofboltier is travelled to initial position, start automatic control button, coal Full-automatic mine roofboltier by the spacing preset and array pitch, can complete the automatic Anchor Care of the anchor pole of setting quantity.
The sequencing of above embodiment, only for ease of describing, does not represent the quality of embodiment.
Last it is noted that above embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.

Claims (10)

1. a coal Full-automatic mine roofboltier, it is characterized in that, comprise chassis (601), crawling traction portion (602), large revolution of arm ear seat (603), large arm angling cylinder ear seat (604), large arm outer sleeve (607), large arm inner sleeve (608), large arm telescopic oil cylinder (609), large arm amplitude modulation oil cylinder (610), large arm angling cylinder (611), drilling cramp spiral oscillating cylinder (612), slide frame (614), rig leveling cyclinder (615), guide rail drives oil cylinder (616), coal Full-automatic mine jumbolter and automatic device for layering,
Described chassis (601) is horizontally disposed with;
Described crawling traction portion (602) comprises two crawler belts, and described two crawler belts are individually fixed in the left and right sides of described chassis (601);
Described large revolution of arm ear seat (603) and large arm angling cylinder ear seat (604) are articulated with on described chassis (601) by different jointed shafts, and described large revolution of arm ear seat (603) is vertically arranged with the jointed shaft on described chassis (601), described large arm angling cylinder ear seat (604) is also vertically arranged with the jointed shaft on described chassis (601);
One end of described large arm outer sleeve (607) is articulated with described large revolution of arm ear seat (603), and described large arm outer sleeve (607) is horizontally disposed with the jointed shaft of described large revolution of arm ear seat (603);
Described large arm outer sleeve (607) is in hollow form, and the cross section of the endoporus of described large arm outer sleeve (607) is square, the cross section of described large arm inner sleeve (608) is identical with the cross section of described endoporus, and described large arm inner sleeve (608) is slidably disposed in described large arm outer sleeve (607);
Described large arm inner sleeve (608) is also hollow structure, the cylinder body of described large arm telescopic oil cylinder (609) is articulated with on the inwall of described large arm outer sleeve (607), and the piston rod of described large arm telescopic oil cylinder (609) is articulated with on the inwall of described large arm inner sleeve (608);
The cylinder body of described large arm angling cylinder (611) is articulated with on described large arm angling cylinder ear seat (604), on the left side wall that the piston rod of described large arm angling cylinder (611) is articulated with described large arm outer sleeve (607) by ball pivot or right side wall; Described large arm angling cylinder (611) and described large arm angling cylinder ear seat (604) are positioned at left side or the right side of described large arm outer sleeve (607) simultaneously;
The cylinder body of described large arm amplitude modulation oil cylinder (610) is articulated with described large revolution of arm ear seat (603); The piston rod of described large arm amplitude modulation oil cylinder (610) is articulated with in the lower wall of described large arm outer sleeve (607), described large arm amplitude modulation oil cylinder (610) is positioned at the bottom of described large arm outer sleeve (607), by the expanding-contracting action of large arm amplitude modulation oil cylinder (610), swinging up and down of described large arm outer sleeve (607) can be realized;
The cylinder body of described drilling cramp spiral oscillating cylinder (612) is fixed on described large arm inner sleeve (608) and is positioned at described large arm outer sleeve (607) one end outward, and the lower hinge of described slide frame (614) is on the turning cylinder of described drilling cramp spiral oscillating cylinder (612); And the jointed shaft of the turning cylinder of described slide frame (614) and described drilling cramp spiral oscillating cylinder (612) is perpendicular to the turning cylinder of described drilling cramp spiral oscillating cylinder (612); The cylinder body of described rig leveling cyclinder (615) is articulated with on the cylinder body of described drilling cramp spiral oscillating cylinder (612), and its piston rod is articulated with the top of described slide frame (614); Described guide rail (203) is slidably disposed on described slide frame (614), and can move up and down along described slide frame (614); Described guide rail drives the cylinder body of oil cylinder (616) to be articulated with on described slide frame (614); Described guide rail drives the piston rod of oil cylinder (616) to be articulated with on described guide rail (203), and described guide rail drives oil cylinder (616) parallel with described guide rail (203);
The worm gear (114) of described automatic device for layering is arranged on described chassis (601) rotationally, and is positioned at the right side of described large arm outer sleeve (607).
2. coal Full-automatic mine roofboltier according to claim 1, it is characterized in that, described automatic device for layering comprises rotating base (101), ear seat (102), the first arm (103), the first oil cylinder (104), the second arm (105), the second oil cylinder (106), the 3rd arm (107), the 3rd oil cylinder (108), the first spiral oscillating cylinder (109), the second spiral oscillating cylinder (110), the 3rd spiral oscillating cylinder (111) and magnetic machinery hand (112);
Described ear seat (102) is fixed on the rotatable parts of described rotating base (101), and described rotating base (101) drives described ear seat (102) to rotate;
One end of described first arm (103) is articulated with on described ear seat (102);
One end of described second arm (105) is articulated with the other end of described first arm (103);
The two ends of described first oil cylinder (104) are articulated with on described ear seat (102) and described first arm (103) respectively, and described first oil cylinder (104) drives described first arm (103) to rotate around the jointed shaft of described first arm (103) with ear seat (102);
One end of described second oil cylinder (106) is articulated with described first arm (103), and the other end is articulated with described second arm (105); Described second oil cylinder (106) drives described second arm (105) to rotate around the jointed shaft of described second arm (105) with the first arm (103);
The other end of described second arm (105) is hollow form, and described 3rd arm (107) is slidably disposed in described second arm (105);
One end of described 3rd oil cylinder (108) is articulated with described second arm (105), and the other end is articulated with described 3rd arm (107);
The cylinder body of described first spiral oscillating cylinder (109) is fixed on described 3rd arm (107) one end away from described second arm (105), the cylinder body of described second spiral oscillating cylinder (110) is fixed on the dwang of described first spiral oscillating cylinder (109), and the dwang of described second spiral oscillating cylinder (110) is vertical with the dwang of described first spiral oscillating cylinder (109); The cylinder body of described 3rd spiral oscillating cylinder (111) is fixed on the dwang of described second spiral oscillating cylinder (110), and the dwang of described 3rd spiral oscillating cylinder (111) is perpendicular to the dwang of described second spiral oscillating cylinder (110);
Described magnetic machinery hand (112) is fixed on the dwang of described 3rd spiral oscillating cylinder (111);
Described rotating base (101) comprises hydraulic motor and worm-and-wheel gear, described hydraulic motor is fixed on described chassis, described worm screw (113) is fixed on the output shaft of described hydraulic motor, worm screw (113) described in described fluid motor-driven is rotated, described worm gear (114) is arranged on described chassis rotationally, described worm screw (113) is matched with described worm gear (114), and described worm screw (113) drives described worm gear (114) to rotate; Described ear seat (102) is fixed on described worm gear (114).
3. coal Full-automatic mine roofboltier according to claim 2, is characterized in that, described second arm (105) offers square opening along its length; Described 3rd arm (107) is linearly, and its cross section is identical with the square opening of described second arm (105).
4. coal Full-automatic mine roofboltier according to claim 3, it is characterized in that, described coal Full-automatic mine jumbolter comprises brill case switching device shifter (2), automatically send lever apparatus (3), the 3rd manipulator (4) and the 4th manipulator (5);
On the described guide rail automatically sending lever apparatus (3) to be fixed on described brill case switching device shifter (2), and be positioned at the left side of described guide rail, described 3rd manipulator (4) is fixed on the guide rail of described brill case switching device shifter (2), and is positioned at the right side of described guide rail; Described 4th manipulator (5) is fixed on the upper end of the guide rail of described brill case switching device shifter (2);
Described 3rd manipulator is used for the upper end of fixing drilling rod; Described 4th manipulator is used for leading to drilling rod or anchor pole.
5. coal Full-automatic mine roofboltier according to claim 4, it is characterized in that, described 3rd manipulator (4) comprises bearing (401), electric rotating machine (402), manipulator fixed head (403), drilling rod fixed head (404) and locking cylinder (405);
Described bearing (401) is fixed on described guide rail (203), and is positioned at the right side of described guide rail (203);
Described electric rotating machine (402) is fixed on described bearing (401), and the upper end of the rotor of described electric rotating machine (402) is arranged on described bearing (401) rotationally;
Described manipulator fixed head (403) is fixed on the rotor of described electric rotating machine (402), and described electric rotating machine (402) drives described manipulator fixed head (403) to rotate;
Described drilling rod fixed head (404) is fixed on described manipulator fixed head (403), described drilling rod fixed head (404) is horizontally disposed with, and described drilling rod fixed head (404) offering the groove of vertical direction, described groove can accommodating described drilling rod;
The cylinder body of described locking cylinder (405) is fixed on described drilling rod fixed head (404), when the piston rod of described locking cylinder (405) stretches out, the piston rod of described locking cylinder (405) coordinates with described drilling rod fixed head (404), realizes the locking of drilling rod.
6. coal Full-automatic mine roofboltier according to claim 5, is characterized in that, described 4th manipulator (5) comprises the first claw (501), the second claw (502) and performs oil cylinder (503);
Described first claw (501) is identical with the second claw (502) structure, and is symmetrical arranged; Described first claw (501) and the second claw (502) are articulated with the upper end of described guide rail (203) respectively by different jointed shafts; The front end of described first claw (501) and the front end edge vertical direction of described second claw (502) all offer semi-circular groove; The rear end of described first claw (501) and the second claw (502) is hinged with cylinder body and the piston rod of described execution oil cylinder (503) respectively;
When described execution oil cylinder (503) action, described first claw (501) and the second claw (502) move toward one another, the semi-circular groove of described first claw (501) and the semi-circular groove of the second claw (502) are bonded into a whole circular trough, and drilling rod or anchor pole can be fixed in described whole circular trough.
7. coal Full-automatic mine roofboltier according to claim 6, it is characterized in that, described brill case switching device shifter comprises base (201), stirs oil cylinder (202), guide rail (203), the first fixed frame (204), the second fixed frame (205), sliding frame (206), the first travelling carriage (207), the second travelling carriage (208), first bore case (215), second and bore case (216), the first push rod (219), the second push rod (220), the first shifting block (221) and the second shifting block (222);
Described base (201) comprises base portion and is fixed on two alar parts at described base portion two ends, and described two alar parts all perpendicular to described base portion, and are parallel to each other, and are positioned at the homonymy of described base portion;
Described oil cylinder (202) of stirring for the two outlet-rod hydraulic cylinder of single piston type, described in stir oil cylinder (202) two piston rods be individually fixed in described two alar parts;
Described guide rail (203) is fixed on the base portion of described base (201), and perpendicular to described base (201);
Described first fixed frame (204) and the second fixed frame (205) are all fixed on described base (201), and described first fixed frame (204) is identical with the second fixed frame (205) structure;
Described sliding frame (206) is slidably disposed on described guide rail (203); And described sliding frame (206) is positioned between described first fixed frame (204) and the second fixed frame (205);
The top of described first fixed frame (204), the second fixed frame (205) and sliding frame (206) is all formed with upper rail groove; The bottom of described first fixed frame (204), the second fixed frame (205) and sliding frame (206) is all formed with lower guideway groove;
In the upper rail groove that described first travelling carriage (207) is slidably disposed in described first fixed frame (204) and lower guideway groove, in the upper rail groove that described second travelling carriage (208) is slidably disposed in described sliding frame (206) and lower guideway groove;
Described first bores case (215) is fixed on described first travelling carriage (207); Described second bores case (216) is fixed on described second travelling carriage (208);
Described first travelling carriage (207) is provided with the first push rod (219); Described second travelling carriage (208) is provided with the second push rod (220); Described stirring on oil cylinder (202) is respectively arranged with the first shifting block (221) and the second shifting block (222), described first shifting block (221) drives described first travelling carriage (207) to move by the first push rod (219), and described second shifting block (222) drives described second travelling carriage (208) to move by described second push rod (220).
8. coal Full-automatic mine roofboltier according to claim 7, is characterized in that, the described lever apparatus that automatically send comprises anchor pole storing mechanism, the first manipulator, the second manipulator and holder;
Described anchor pole storing mechanism comprises lower plate (301), rotary power portion (302), central axis (303), lower part scale (304), upper part scale (305) and top and fixes back-up ring (306);
Described rotary power portion (302) is fixed on described lower support dish (301), and being positioned at the center of described lower plate (301), described central axis (303) is fixed on the rotatable parts of described rotary power portion (302); The axis of described central axis (303) is vertical with described lower support dish (301);
Described lower part scale (304) and upper part scale (305) are all fixed on described central axis (303), described upper part scale (305) is positioned at the top of described lower part scale (304), and described central axis (303) drives described lower part scale (304) and upper part scale (305) to rotate; The axial line of described lower part scale (304) and upper part scale (305) overlaps with the axial line of described central axis (303); The diameter of described lower part scale (304) is greater than the diameter of described upper part scale (305);
The sidewall of described lower part scale (304) all offers multiple semi-circular groove along the axis direction of described lower part scale (304); The sidewall of described upper part scale (305) all offers multiple semi-circular groove along the axis direction of described upper part scale (305); Semi-circular groove on described lower part scale (304) is identical with the quantity of the semi-circular groove on described upper part scale (305), and semi-circular groove on described lower part scale (304) is uniformly distributed along the circumference of described lower part scale (304), the semi-circular groove on described upper part scale (305) is uniformly distributed along the circumference of described upper part scale (305);
(324) offer third through-hole with described holder;
Described top is fixed back-up ring (306) and is comprised rotation section, annular portion and cylindrical central sleeve; Described cylindrical central sleeve is sheathed on described central axis (303); Described annular portion has opening, and is fixed on described cylindrical central sleeve; The axis of described cylindrical central sleeve overlaps with the shaft center line of described annular portion; One end of described rotation section is arranged in the third through-hole of described holder (324) rotationally, and the other end is fixed on the opening part of described annular portion; The diameter of bore that the annular portion of back-up ring (306) is fixed on described top is less than the diameter of described upper part scale (305), and after described rotation section rotates to an angle in described holder (324), it can be fixed on described holder (324);
Described first manipulator is positioned at the top of the second manipulator, and described first manipulator is for capturing the upper end of described anchor pole, and described second manipulator is for capturing the lower end of described anchor pole; Thus taken out in described anchor pole storing mechanism by described anchor pole, and be delivered to the top of boring case.
9. coal Full-automatic mine roofboltier according to claim 8, is characterized in that, the described lever apparatus that automatically send also comprises junction plate (307), back-up block (308) and contiguous block (309), one end of described junction plate (307) is fixed on guide rail, the upper end thereof of described back-up block (308) is in the other end of described junction plate (307), the bottom of described back-up block (308) offers strip groove, the upper end of described contiguous block (309) is fixed in described lower plate (301), and be positioned at the bottom of described lower support dish (301), the lower end of described contiguous block (309) is provided with screw rod, described screw rod is perpendicular to described contiguous block (309), and described screw rod is through described strip groove, by nut, described screw rod is fixed on described back-up block (308).
10. coal Full-automatic mine roofboltier according to claim 9, it is characterized in that, described first manipulator and the second manipulator include framework, the first axle (313), the second axle (314), upper rotor plate (315), lower rotor plate (316), the first oil cylinder (317), the second oil cylinder (318) and anchor pole grabbing claw (319);
Described framework comprises vertical plate (310), the first level board (311) and the second level board (312), described vertical plate (310) is fixed on described guide rail, described vertical plate (310) is vertically arranged, described first level board (311) and the second level board (312) are individually fixed in the two ends up and down of described vertical plate (310), and described first level board (311) and the second level board (312) are all horizontally disposed with, described second level board (312) is positioned at the bottom of described first level board (311);
Described first axle (313) is vertically arranged, its two ends are individually fixed on described first level board (311) and the second level board (312), and described first axle (313) is positioned between described first level board (311) and the second level board (312);
Described second axle (314) is vertically arranged, and described second axle (314) is fixed on described first level board (311) and the second level board (312), the upper end of described second axle (314) is positioned at the top of described first level board (311), and the lower end of described second axle (314) is positioned at the bottom of described second level board (312);
Described upper rotor plate (315) and lower rotor plate (316) are all horizontally disposed with, and described upper rotor plate (315) and described lower rotor plate (316) structure are " Y " font, comprise anchor pole fixed part (320), the first fixed part (321) and the second fixed part (322), first fixed part (321) of described upper rotor plate (315) and lower rotor plate (316) is articulated with on described first level board (311) and the second level board (312) by the first axle (313); Be provided with the 3rd axle (323) between described upper rotor plate (315) and second fixed part (322) of lower rotor plate (316), the cylinder body of described first oil cylinder (317) is articulated with on described upper rotor plate (315) and lower rotor plate (316) by described 3rd axle (323); Described anchor pole fixed part (320) offers semi-circular groove;
Described anchor pole grabbing claw (319) is articulated with on the anchor pole fixed part (320) of described upper rotor plate (315) and lower rotor plate (316) by jointed shaft, and described anchor pole grabbing claw (319) also offers semi-circular groove, the semi-circular groove of described anchor pole grabbing claw (319) matches with the semi-circular groove of described anchor pole fixed part (320), realizes the crawl of anchor pole;
The piston rod of described first oil cylinder (317) is articulated with described anchor pole grabbing claw (319), rotates around described jointed shaft for driving described anchor pole grabbing claw (319);
The cylinder body of described second oil cylinder (318) is articulated with on described first level board (311) and the second level board (312) by the second axle (314), and the piston rod of described second oil cylinder (318) is articulated with on described upper rotor plate (315) and lower rotor plate (316) by described jointed shaft.
CN201510193857.4A 2015-04-21 2015-04-21 Coal Full-automatic mine roofboltier Expired - Fee Related CN104912484B (en)

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CN114320385A (en) * 2021-11-25 2022-04-12 中国煤炭科工集团太原研究院有限公司 Anchor rod drill carriage net hanging equipment and anchor rod drill carriage
CN114856465A (en) * 2021-02-03 2022-08-05 杭州图强工程材料有限公司 Automatic send stock storehouse of pole and have operation arm of stock platform truck in this stock storehouse
WO2023093117A1 (en) * 2021-11-25 2023-06-01 中国煤炭科工集团太原研究院有限公司 Anchor protection vehicle
CN116378727A (en) * 2023-06-02 2023-07-04 太原理工大学 Automatic motor switching device of drilling and anchoring integrated machine
CN116988821A (en) * 2023-09-25 2023-11-03 湖南创远高新机械有限责任公司 Net-hanging jumbolter
CN118327461A (en) * 2024-06-13 2024-07-12 攀钢集团矿业有限公司 Cone drill and unmanned control system thereof

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